An automatic welding robot based on machine vision guidance

Abstract

The application provides an automatic welding robot based on machine vision guidance, and relates to the technical field of welding.The automatic welding robot comprises a welding robot body, a fixing frame arranged on the welding robot body, a welding torch and a vision guidance mechanism arranged on the fixing frame, a dust suction cover arranged outside the welding torch, a dust suction cavity arranged inside the dust suction cover, a dust suction hole arranged at the lower end of the dust suction cavity and communicated with the inside of the dust suction cover, an air suction pump arranged outside the dust suction cover, an exhaust hole arranged at the input end of the air suction pump and communicated with the inside of the dust suction cavity, a collecting ring arranged at the bottom of the dust suction cover, a collecting cavity arranged in the collecting ring, and a collecting tube arranged at the output end of the air suction pump and communicated with the inside of the collecting cavity.In the application, when the welding torch is used for welding, the air suction pump is started, the smoke generated during welding enters the dust suction cavity through the dust suction hole, and is sucked out by the air suction pump into the collecting cavity of the collecting ring, so that the smoke generated during welding is reduced, the image quality obtained by the vision guidance mechanism is improved, the precision of welding is enhanced, and the welding quality is improved.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to an automated welding robot guided by machine vision. Background Technology

[0002] Machine vision-guided automated welding robots are a crucial technology in modern industrial automation. They combine machine vision technology with welding robots to achieve a high degree of automation and intelligence in the welding process. Machine vision technology uses devices such as cameras or laser scanners to acquire real-time three-dimensional data of the workpiece, including its shape, position, and dimensions. This data, analyzed by image processing and pattern recognition algorithms, is used to guide the operation of the welding robot. Based on the guidance information provided by the machine vision system, the welding robot precisely locates the welding point, plans the welding path, and executes the welding task.

[0003] Chinese Patent CN117245217B discloses a robotic welding device with automatic error compensation, relating to the field of welding equipment technology. The device includes a frame, a linear drive mechanism, a vision-laser positioning mechanism, a joint placement rack, a first quick-change head, and a second quick-change head. This invention employs a first and second quick-change head, enabling rapid switching between laser welding heads, laser marking heads, and robotic grippers according to actual needs. This reduces the time workers spend changing tools using traditional methods, lowers the risk, improves robot efficiency, lowers robot costs, enhances robot application levels, and promotes a shift in robot application methods. The vision-laser positioning mechanism integrates vision and laser positioning technologies, real-time acquiring the working status of the welding workpiece and guiding the robot to achieve automatic error compensation, thereby improving overall product quality and increasing production efficiency.

[0004] However, the aforementioned welding device is prone to generating fumes during the welding process. The interference of fumes can lead to a decrease in the image quality of the visual laser positioning mechanism, thereby affecting the control of the welding process and reducing the welding quality. Summary of the Invention

[0005] This invention provides an automated welding robot guided by machine vision, which solves the technical problem that current welding devices easily generate fumes during the welding process. The interference of fumes leads to a decrease in the image quality of the visual laser positioning mechanism, thereby affecting the control of the welding process and reducing the welding quality.

[0006] To address the aforementioned technical problems, this invention discloses an automated welding robot guided by machine vision, comprising: a welding robot body, a fixed frame mounted on the welding robot body, a welding torch and a vision guidance mechanism mounted on the fixed frame, a dust collection hood mounted outside the welding torch, a dust collection chamber mounted inside the dust collection hood, dust collection holes mounted on the inner wall of the dust collection hood, the lower end of the dust collection chamber communicating with the interior of the dust collection hood through the dust collection holes, an air pump mounted outside the dust collection hood, the input end of the air pump communicating with the interior of the dust collection chamber through the discharge hole, the discharge hole being located on the outer wall of the dust collection hood, a collection ring mounted at the bottom of the dust collection hood, a collection chamber mounted inside the collection ring, and the output end of the air pump communicating with the interior of the collection chamber through a collection pipe.

[0007] Preferably, the collection ring has a ring structure, and a connection hole is provided at the upper end of the collection ring, with the inner wall of the connection hole connected to the outer wall of the dust collection hood.

[0008] Preferably, the suction chamber has a ring-shaped structure, the central axis of the suction chamber is on the same straight line as the central axis of the suction hood, and a number of suction holes are provided, which are distributed in a ring array about the central axis of the suction hood.

[0009] Preferably, an annular baffle is provided inside the dust collection chamber, with the central axis of the annular baffle collinear with the central axis of the dust collection chamber. The outer wall of the annular baffle is connected to the inner wall of the dust collection chamber away from the welding gun via several connecting posts. The lower end of the annular baffle is connected to the bottom wall of the connecting hole. Several mounting holes are provided inside the annular baffle, and dustproof nets are installed in the mounting holes. An annular piston plate is provided above the annular baffle, with the upper surface of the annular piston plate connected to the top wall of the dust collection chamber via several first return springs. The side wall of the annular piston plate is slidably connected to the inner wall of the dust collection chamber. An annular sealing plate is provided inside the annular baffle, with the upper end of the annular sealing plate connected to the lower surface of the annular piston plate. The side wall of the annular sealing plate is slidably connected to the inner side wall of the annular baffle. A connecting groove is provided on the inner wall of the dust collection chamber, located between the annular piston plate and the discharge hole.

[0010] Preferably, the cross-section of the connecting groove is a right-angled triangle, and the depth of the upper end of the connecting groove is greater than the depth of the lower end of the connecting groove.

[0011] Preferably, the collection ring is provided with a plurality of collection holes, and the two ends of the collection holes are respectively connected to the space on the side of the annular baffle away from the dust suction hole and the upper end of the collection chamber.

[0012] Preferably, the collection ring is provided with several collection holes II. The two ends of the collection holes II are respectively connected to the space near the dust suction hole of the annular baffle and the upper end of the collection cavity. A fixing rod is provided in the collection hole II. The upper end of the fixing rod is connected to the lower end of the annular sealing plate. The lower end of the fixing rod extends into the collection cavity and is provided with a sealing moving block. The outer wall of the sealing moving block is slidably connected to the inner wall of the collection hole II.

[0013] Preferably, a solenoid valve is installed on the collection pipe.

[0014] Preferably, a protective cover is provided on the outside of the visual guidance mechanism, the upper end of the protective cover is connected to the fixed frame, and an opening is provided at the lower end of the protective cover.

[0015] Preferably, the protective cover has an internal cavity, and the other output end of the air pump is connected to the cavity through a connecting pipe. The inner wall of the protective cover is provided with several air nozzles, which are arranged in a ring array about the central axis of the protective cover.

[0016] The technical solution of this invention has the following advantages: This invention provides an automatic welding robot based on machine vision guidance, relating to the field of welding technology. It includes a welding robot body, a fixed frame on the welding robot body, a welding torch and a vision guidance mechanism mounted on the fixed frame, a dust collection hood outside the welding torch, a dust collection chamber inside the dust collection hood, dust collection holes on the inner wall of the dust collection hood, and a suction pump outside the dust collection hood with its input end connected to the inside of the dust collection chamber through the suction holes. The suction holes are located on the outer wall of the dust collection hood. A collection ring is located at the bottom of the dust collection hood, with a collection chamber inside the collection ring. The output end of the suction pump is connected to the inside of the collection chamber through a collection pipe. In this invention, when welding with the welding torch, the suction pump is activated. The fumes generated during welding enter the dust collection chamber through the suction holes and are then extracted by the suction pump to the collection chamber of the collection ring. This reduces the fumes generated during welding, helps improve the image quality acquired by the vision guidance mechanism, thereby enhancing welding accuracy, welding quality, and welding efficiency.

[0017] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the means particularly pointed out in the written description and the accompanying drawings.

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic diagram of the overall structure of an automated welding robot based on machine vision guidance according to the present invention.

[0021] Figure 2 This is a schematic diagram of the internal structure of the dust collection hood and protective cover in this invention;

[0022] Figure 3 For the present invention Figure 2 Enlarged view of the structure at point A in the middle;

[0023] Figure 4 For the present invention Figure 2 Enlarged view of the structure at point B in the middle;

[0024] Figure 5 This is a top view of the annular baffle in this invention.

[0025] In the diagram: 1. Welding robot body; 2. Fixing frame; 3. Welding torch; 4. Vision guidance mechanism; 5. Dust hood; 6. Dust suction chamber; 7. Dust suction hole; 8. Air pump; 9. Collection ring; 10. Collection chamber; 11. Annular baffle; 12. Connecting column; 13. Dustproof net; 14. Annular piston plate; 15. First return spring; 16. Annular sealing plate; 17. Connecting groove; 18. Collection hole one; 19. Collection hole two; 20. Fixing rod; 21. Sealing moving block; 22. Protective cover; 23. Cavity; 24. Connecting pipe; 25. Air nozzle; 26. Elastic baffle; 27. Fixing plate; 28. First cylinder; 29. ​​Second cylinder; 30. Sliding plate; 31. Positioning plate; 32. Second return spring; 33. Observation tube; 34. Air outlet; 35. Air outlet pipe; 36. Sealing plate; 37. Third return spring. Detailed Implementation

[0026] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0027] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0028] Example 1

[0029] This invention provides an automated welding robot guided by machine vision, such as... Figures 1-5As shown, it includes: a welding robot body 1, a fixed frame 2 on the welding robot body 1, a welding torch 3 and a vision guidance mechanism 4 on the fixed frame 2, a dust collection hood 5 outside the welding torch 3, a dust collection chamber 6 inside the dust collection hood 5, a dust collection hole 7 on the inner wall of the dust collection hood 5, the lower end of the dust collection chamber 6 communicating with the inside of the dust collection hood 5 through the dust collection hole 7, an air pump 8 outside the dust collection hood 5, the input end of the air pump 8 communicating with the inside of the dust collection chamber 6 through the discharge hole, the discharge hole being located on the outer wall of the dust collection hood 5, a collection ring 9 at the bottom of the dust collection hood 5, a collection chamber 10 inside the collection ring 9, and the output end of the air pump 8 communicating with the inside of the collection chamber 10 through the collection pipe.

[0030] The working principle and beneficial effects of the above technical solution are as follows: Welding easily generates fumes, which not only affect the image quality acquired by the vision guidance mechanism 4, but also easily corrode the components of the vision guidance mechanism 4, shortening its service life. Therefore, this invention provides an automatic welding robot based on machine vision guidance, including a welding robot body 1, a welding torch 3, and a vision guidance mechanism 4. The vision guidance mechanism 4 can be a laser camera, used to acquire weld seam images of the workpiece to be welded. It also includes an industrial control computer and a PLC controller. The industrial control computer is communicatively connected to the PLC controller, the welding robot body 1, the welding torch 3, and the vision guidance mechanism 4. The industrial control computer can control the movement of the welding robot body 1 through the image data acquired by the vision guidance mechanism 4, thereby completing the welding. Guiding the welding process is an existing technology. The methods are not detailed here. To reduce the amount of fumes generated during the welding process, a dust extraction hood 5 is installed outside the welding torch 3. A dust extraction port is opened at the lower end of the dust extraction hood 5, and a dust extraction chamber 6 is set on the side wall of the dust extraction hood 5. The dust extraction chamber 6 is connected to the inside of the dust extraction hood 5 through a dust extraction hole 7. During welding, the air pump 8 is activated, and the fumes generated during welding enter the dust extraction chamber 6 through the dust extraction hole 7 and are then extracted by the air pump 8 to the collection chamber 10 of the collection ring 9. This reduces the amount of fumes generated during the welding process and achieves effective removal of welding fumes. This helps improve the image quality acquired by the vision guidance mechanism 4, thereby enhancing the accuracy of welding, improving welding quality and efficiency, and preventing fumes from entering the interior of the vision guidance mechanism 4, thus extending the service life of the vision guidance mechanism 4. Moreover, by removing fumes, the working environment can be improved, and the air quality in the working area can be improved.

[0031] Example 2

[0032] Based on the above embodiment 1, as follows Figure 2 , Figure 3 As shown, the collection ring 9 has a ring structure, and a connection hole is provided at the upper end of the collection ring 9. The inner wall of the connection hole is connected to the outer wall of the dust collection cover 5.

[0033] The suction chamber 6 has a ring-shaped structure, and the central axis of the suction chamber 6 is on the same straight line as the central axis of the suction hood 5. Several suction holes 7 are provided, and the suction holes 7 are arranged in a ring array about the central axis of the suction hood 5.

[0034] An annular baffle 11 is provided inside the dust collection chamber 6. The central axis of the annular baffle 11 is on the same straight line as the central axis of the dust collection chamber 6. The outer wall of the annular baffle 11 is connected to the inner wall of the dust collection chamber 6 away from the welding gun 3 through several connecting posts 12. The lower end of the annular baffle 11 is connected to the bottom wall of the connecting hole. Several mounting holes are provided inside the annular baffle 11, and dustproof nets 13 are installed in the mounting holes. An annular piston plate 14 is provided above the annular baffle 11. The upper surface of the annular piston plate 14 is connected to the top wall of the dust collection chamber 6 through several first return springs 15. The side wall of the annular piston plate 14 is slidably connected to the inner wall of the dust collection chamber 6. An annular sealing plate 16 is provided inside the annular baffle 11. The upper end of the annular sealing plate 16 is connected to the lower surface of the annular piston plate 14. The side wall of the annular sealing plate 16 is slidably connected to the inner side wall of the annular baffle 11. A connecting groove 17 is provided on the inner wall of the dust collection chamber 6. The connecting groove 17 is located between the annular piston plate 14 and the discharge hole.

[0035] The working principle and beneficial effects of the above technical solution are as follows: Initially, the lower surface of the annular piston plate 14 contacts the upper end of the annular baffle 11, and the annular sealing plate 16 seals the dustproof net 13, which can prevent external dust from adhering to the dustproof net 13 and causing it to become clogged, thus extending the service life of the dustproof net 13. When the suction pump 8 starts, the pressure in the space above the annular piston plate 14 decreases, and the annular piston plate 14 slides upward along the inner wall of the suction chamber 6. The first return spring 15 is compressed, and at the same time, the annular piston plate 14 drives the annular sealing plate 16 to slide upward, so that the dustproof net 13 is gradually exposed. When the annular piston plate 14 slides to the connecting groove 17, the smoke and dust can enter the suction chamber 6 through the suction hole 7, and then... The dust flows upward through the dustproof net 13 and through the connecting groove 17 into the dust suction chamber 6 above the annular piston plate 14. It is then drawn out to the outside of the dust suction chamber 6 by the suction pump 8. The dustproof net 13 can intercept large particles of impurities in the dust, preventing them from entering the dust suction chamber 6 and preventing large particles of impurities from damaging the suction pump 8. After welding is completed, the suction pump 8 stops working. Under the action of the first reset spring 15 and gravity, the annular piston plate 14 slides downward. The annular piston plate 14 drives the annular sealing plate 16 to slide downward along the outer wall of the dustproof net 13. The annular sealing plate 16 can scrape off the large particles of impurities intercepted on the outer wall of the dustproof net 13, avoiding clogging of the dustproof net 13 and extending the service life of the dustproof net 13.

[0036] Example 3

[0037] Based on Example 2, such as Figure 3 As shown, the cross-section of the connecting groove 17 is a right-angled triangle, and the depth of the upper end of the connecting groove 17 is greater than the depth of the lower end of the connecting groove 17.

[0038] The working principle and beneficial effects of the above technical solution are as follows: the connecting channel 17 is set in a right-angled triangle shape, and the inner wall of the connecting channel 17 is set as an inclined surface. When some small particulate impurities flow along the connecting channel 17, they can be intercepted in the connecting channel 17 by friction and flow down along the inner wall of the connecting channel 17 to below the annular piston plate 14. A filter screen is also set at the upper end of the connecting channel 17. The filter screen pore size is smaller than the filter screen pore size of the dustproof net 13. The filter screen can further intercept small particulate impurities in the smoke and dust, and realize the collection of small particulate impurities.

[0039] Example 4

[0040] Based on Example 2 or 3, such as Figure 3 As shown, a number of collection holes 18 are provided on the collection ring 9. The two ends of the collection holes 18 are respectively connected to the space on the side of the annular baffle 11 away from the dust suction hole 7 and the upper end of the collection chamber 10.

[0041] The working principle and beneficial effects of the above technical solution are as follows: small particulate impurities flowing down from the connecting groove 17 can fall into the collection chamber 10 through the collection hole 18, thus completing the collection of small particulate impurities. The bottom of the collection ring 9 is detachably equipped with a base plate. Opening the base plate allows for cleaning of the collection chamber 10, thereby extending the service life of the collection ring 9.

[0042] Example 5

[0043] Based on any one of Examples 2-4, such as Figure 3 As shown, a plurality of collection holes 19 are provided on the collection ring 9. The two ends of the collection holes 19 are respectively connected to the space on the side of the annular baffle 11 near the dust suction hole 7 and the upper end of the collection cavity 10. A fixing rod 20 is provided in the collection hole 19. The upper end of the fixing rod 20 is connected to the lower end of the annular sealing plate 16. The lower end of the fixing rod 20 extends into the collection cavity 10 and is provided with a sealing moving block 21. The outer wall of the sealing moving block 21 is slidably connected to the inner wall of the collection hole 19.

[0044] The working principle and beneficial effects of the above technical solution are as follows: During the upward sliding of the annular sealing plate 16, the annular sealing plate 16 drives the sealing moving block 21 to move upward through the fixed rod 20, thereby blocking the collection hole 2 19 and preventing dust from flowing into the collection chamber 10 from the collection hole 2 19; When the annular sealing plate 16 slides downward, the annular sealing plate 16 can scrape off large particulate impurities intercepted on the outer wall of the dustproof net 13. The large particulate impurities scraped off by the annular sealing plate 16 fall onto the sealing moving block 21 through the collection hole 2 19 and flow into the collection chamber 10 along the inclined surface of the upper side wall of the sealing moving block 21, thus completing the collection of large particulate impurities. By scraping off large particulate impurities on the outer wall of the dustproof net 13 by the annular sealing plate 16, the service life of the dustproof net 13 is extended, the unobstructed flow of the dustproof net 13 is ensured, and the dust removal effect is enhanced.

[0045] Example 6

[0046] Based on any one of Examples 2-5, such as Figure 2 , Figure 4 As shown, a solenoid valve is installed on the collection pipe;

[0047] The visual guidance mechanism 4 is provided with a protective cover 22. The upper end of the protective cover 22 is connected to the fixed frame 2, and the lower end of the protective cover 22 is provided with an opening.

[0048] The protective cover 22 has a cavity 23 inside. The other output end of the air pump 8 is connected to the cavity 23 through a connecting pipe 24. The inner wall of the protective cover 22 is provided with a number of air nozzles 25, which are arranged in a ring array about the central axis of the protective cover 22.

[0049] The working principle and beneficial effects of the above technical solution are as follows: A protective cover 22 is installed outside the visual guidance mechanism 4. The protective cover 22 can reduce the contamination of the lens and other components of the visual guidance mechanism 4 by smoke and dust. When the solenoid valve is closed, the smoke and dust sucked by the air pump 8 can enter the cavity 23 of the protective cover 22 through the connecting pipe 24, and then be sprayed out through the air nozzle 25. The air nozzle 25 is set at an angle, and the output end of the air nozzle 25 faces the opening of the protective cover 22. The airflow blown out by the air nozzle 25 reduces large and small particulate impurities. The airflow blown out by the air nozzle 25 can blow away the smoke at the opening. The dust is filtered out, thus preventing external fumes from entering the protective cover 22. This reduces the amount of dust adhering to the vision guidance mechanism 4, improves the image quality acquired by the vision guidance mechanism 4, and helps the welding robot body 1 to weld accurately, improving welding quality and efficiency. Furthermore, it prevents fumes from entering the interior of the vision guidance mechanism 4, extending its service life. In the above solution, the filtered fumes can be used reasonably to achieve energy-saving effects. The rapid airflow disperses the fumes at the opening of the protective cover 22, which helps improve the image quality of the vision guidance mechanism 4 and facilitates precise welding by the welding robot.

[0050] Example 7

[0051] Based on Example 6, such as Figure 2 , Figure 4 , Figure 5 As shown, a number of elastic baffles 26 are provided at the lower end of the protective cover 22. The elastic baffles 26 are arranged in a circular array about the center of the lower end of the protective cover 22. The elastic baffles 26 are spliced ​​together to form a circle. One end of the elastic baffles 26 is connected to the inner wall of the protective cover 22.

[0052] The working principle and beneficial effects of the above technical solution are as follows: the airflow from the nozzle 25 can cause the elastic baffle 26 to bend away from the inner wall of the protective cover 22, thus avoiding obstruction of the lens of the visual guidance mechanism 4. After welding is completed, the airflow from the nozzle 25 stops, and the elastic baffle 26 returns to its original position under the action of elasticity, thereby sealing the opening of the protective cover 22 and preventing external dust from entering the interior of the protective cover 22. This further improves the cleanliness of the visual guidance mechanism 4, ensures the normal operation and shooting quality of the visual guidance mechanism 4, and extends the service life of the visual guidance mechanism 4. In addition, when the airflow from the nozzle 25 decreases, the lens of the visual guidance mechanism 4 is blocked by the elastic baffle 26. At this time, it is determined that the dustproof net 13 is seriously blocked, so welding can be stopped and the dustproof net 13 can be cleaned in time, ensuring the dust removal effect and the shooting quality of the visual guidance mechanism 4.

[0053] Example 8

[0054] Based on Example 7, such as Figure 2 , Figure 4 , Figure 5 As shown, a fixing plate 27 is provided inside the protective cover 22. The outer periphery of the fixing plate 27 is fixedly connected to the inner wall of the protective cover 22. A through hole is provided in the center of the fixing plate 27. A first cylinder 28 is provided on the lower surface of the fixing plate 27. The upper end of the first cylinder 28 is connected to the lower surface of the fixing plate 27. The central axis of the first cylinder 28 is on the same straight line as the central axis of the fixing plate 27. A second cylinder 29 is sleeved on the outside of the first cylinder 28. The inner wall of the second cylinder 29 is slidably connected to the outer wall of the first cylinder 28. A sliding plate 30 is provided at the lower end of the second cylinder 29. The outer wall of the sliding plate 30 is slidably connected to the inner wall of the protective cover 22. A positioning plate 31 is provided below the sliding plate 30. The outer wall of the positioning plate 31 is connected to the inner wall of the protective cover 22. The positioning plate 31 and the sliding plate 30 are connected by several second return springs 32. A central hole is provided in the center of the positioning plate 31. A sliding hole is provided, and an observation hole is provided at the center of the sliding plate 30. An observation tube 33 is provided at the observation hole. The lower end of the observation tube 33 passes through the sliding hole and extends to the bottom of the positioning plate 31. The outer wall of the observation tube 33 is slidably connected to the inner wall of the sliding hole. Several air outlets 34 are provided in the sliding plate 30. The air outlets 34 are arranged in a ring array about the central axis of the observation tube 33. Several air outlet pipes 35 are provided in the positioning plate 31. The air outlet pipes 35 correspond one-to-one with the air outlets 34. The upper end of the air outlet pipe 35 extends into the air outlet 34. The lower end of the air outlet pipe 35 passes through the positioning plate 31 and extends to the top of the elastic baffle 26. A sealing plate 36 is provided at the upper end of the air outlet 34. The end of the sealing plate 36 near the second cylinder 29 is hinged to the upper surface of the sliding plate 30. The sealing plate 36 is connected to the outer wall of the second cylinder 29 through a third return spring 37.

[0055] The working principle and beneficial effects of the above technical solution are as follows: The airflow ejected from the nozzle 25 first enters between the fixed plate 27 and the sliding plate 30, then pushes the sliding plate 30 downward, compresses the second return spring 32, and the air outlet pipe 35 slides within the air outlet 34. At the same time, the sliding plate 30 drives the observation tube 33 to move downward, and the observation tube 33 pushes the elastic baffle 26 downward to prevent the elastic baffle 26 from blocking the lens of the visual guidance mechanism 4. Then, the air outlet pipe 35 contacts the sealing plate 36 and pushes the sealing plate 36 to rotate. The third return spring 37 is compressed, and the air outlet pipe 35 then connects with the space above the sliding plate 30. The airflow between the fixed plate 27 and the sliding plate 30 flows out through the air outlet pipe 35 and quickly flows towards the elastic baffle 34. The baffle 26 and the air outlet 35 correspond one-to-one with the elastic baffle 26. The rapid airflow pushes the elastic baffle 26 to bend further, and the airflow can flow out through the gap between the elastic baffle 26 and the observation tube 33, blowing away the smoke and dust at the opening of the protective cover 22, which further improves the image quality of the visual guidance mechanism 4. By setting the air outlet 35, the airflow speed can be increased. After welding is completed, under the action of the second return spring 32, the sliding plate 30 slides upward and returns to its original position, the observation tube 33 moves back into the protective cover 22, the elastic baffle 26 returns to its original position, and under the action of the third return spring 37, the sealing plate 36 returns to its original position and re-seals the upper end of the air outlet 34 for the next use.

[0056] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0057] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0058] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. Other modifications can be easily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An automated welding robot guided by machine vision, characterized in that, include: Welding robot body (1), welding robot body (1) is equipped with a fixed frame (2), the fixed frame (2) is equipped with a welding torch (3) and a vision guidance mechanism (4), the welding torch (3) is equipped with a dust collection hood (5) outside, the dust collection hood (5) is equipped with a dust collection chamber (6) inside, the dust collection hood (5) is equipped with a dust collection hole (7) on the inner wall of the dust collection hood (5), the lower end of the dust collection chamber (6) is connected to the inside of the dust collection hood (5) through the dust collection hole (7), the dust collection pump (8) is equipped with an air pump (8) outside the dust collection hood (5), the input end of the air pump (8) is connected to the inside of the dust collection chamber (6) through the discharge hole, the discharge hole is set on the outer wall of the dust collection hood (5), the bottom of the dust collection hood (5) is equipped with a collection ring (9), the collection ring (9) is equipped with a collection chamber (10) inside, the output end of the air pump (8) is connected to the inside of the collection chamber (10) through the collection pipe; An annular baffle (11) is installed inside the dust collection chamber (6). The central axis of the annular baffle (11) is on the same straight line as the central axis of the dust collection chamber (6). The outer wall of the annular baffle (11) is connected to the inner wall of the dust collection chamber (6) away from the welding gun (3) by several connecting columns (12). The lower end of the annular baffle (11) is connected to the bottom wall of the connecting hole. Several mounting holes are provided inside the annular baffle (11). A dustproof net (13) is installed in the mounting holes. An annular piston plate (14) is installed above the annular baffle (11). The upper surface of the annular piston plate (14) Several first reset springs (15) are connected to the top wall of the suction chamber (6). The side wall of the annular piston plate (14) is slidably connected to the inner wall of the suction chamber (6). An annular sealing plate (16) is provided on the inner side of the annular baffle (11). The upper end of the annular sealing plate (16) is connected to the lower surface of the annular piston plate (14). The side wall of the annular sealing plate (16) is slidably connected to the inner side wall of the annular baffle (11). A connecting groove (17) is provided on the inner wall of the suction chamber (6). The connecting groove (17) is located between the annular piston plate (14) and the discharge hole. The cross-section of the connecting groove (17) is a right-angled triangle, and the depth of the upper end of the connecting groove (17) is greater than the depth of the lower end of the connecting groove (17); A number of collection holes (18) are provided on the collection ring (9). The two ends of the collection holes (18) are connected to the space on the side of the annular baffle (11) away from the dust suction hole (7) and the upper end of the collection chamber (10), respectively. A number of collection holes (19) are provided on the collection ring (9). The two ends of the collection holes (19) are connected to the space near the dust suction hole (7) of the annular baffle (11) and the upper end of the collection chamber (10), respectively. A fixing rod (20) is provided inside the collection hole (19). The upper end of the fixing rod (20) is connected to the lower end of the annular sealing plate (16). The lower end of the fixing rod (20) extends into the collection chamber (10) and is provided with a sealing moving block (21). The outer wall of the sealing moving block (21) is slidably connected to the inner wall of the collection hole (19). The visual guidance mechanism (4) is provided with a protective cover (22) on the outside. The upper end of the protective cover (22) is connected to the fixed frame (2), and the lower end of the protective cover (22) is provided with an opening. The protective cover (22) has a cavity (23) inside. The other output end of the air pump (8) is connected to the cavity (23) through a connecting pipe (24). The inner wall of the protective cover (22) is provided with several air nozzles (25). The air nozzles (25) are arranged in a ring array about the central axis of the protective cover (22). The lower end of the protective cover (22) is provided with several elastic baffles (26). The elastic baffles (26) are arranged in a circular array about the center of the lower end of the protective cover (22). The elastic baffles (26) are spliced ​​into a circle. One end of the elastic baffles (26) is connected to the inner wall of the protective cover (22). A fixing plate (27) is provided inside the protective cover (22). The outer periphery of the fixing plate (27) is fixedly connected to the inner wall of the protective cover (22). A through hole is provided in the center of the fixing plate (27). A first cylinder (28) is provided on the lower surface of the fixing plate (27). The upper end of the first cylinder (28) is connected to the lower surface of the fixing plate (27). The central axis of the first cylinder (28) is on the same straight line as the central axis of the fixing plate (27). A second cylinder (29) is sleeved on the outside of the first cylinder (28). (29) The inner wall of the second cylinder (29) is slidably connected to the outer wall of the first cylinder (28). A sliding plate (30) is provided at the lower end of the second cylinder (29). The outer wall of the sliding plate (30) is slidably connected to the inner wall of the protective cover (22). A positioning plate (31) is provided below the sliding plate (30). The outer wall of the positioning plate (31) is connected to the inner wall of the protective cover (22). The positioning plate (31) and the sliding plate (30) are connected by several second reset springs (32). A sliding hole is provided in the center of the positioning plate (31). An observation hole is provided in the center of the sliding plate (30). An observation tube (33) is provided at the observation hole. The lower end of the observation tube (33) passes through the sliding hole and extends to the lower end of the positioning plate (31). The outer wall of the observation tube (33) is slidably connected to the inner wall of the sliding hole. Several air outlets (34) are provided in the sliding plate (30). The several air outlets (34) are arranged in a ring array about the central axis of the observation tube (33). Several air outlet pipes (35) are provided in the positioning plate (31). 35) Corresponding one-to-one with the air outlet (34), the upper end of the air outlet pipe (35) extends into the air outlet (34), and the lower end of the air outlet pipe (35) passes through the positioning plate (31) and extends to the top of the elastic baffle (26). A sealing plate (36) is provided at the upper end of the air outlet (34). The end of the sealing plate (36) near the second cylinder (29) is hinged to the upper surface of the sliding plate (30). The sealing plate (36) is connected to the outer wall of the second cylinder (29) through the third reset spring (37).

2. The automated welding robot based on machine vision guidance according to claim 1, characterized in that, The collection ring (9) has a ring structure. A connection hole is provided at the upper end of the collection ring (9), and the inner wall of the connection hole is connected to the outer wall of the dust collection cover (5).

3. The automated welding robot based on machine vision guidance according to claim 2, characterized in that, The suction chamber (6) has a ring structure. The central axis of the suction chamber (6) is on the same straight line as the central axis of the suction hood (5). There are several suction holes (7). The suction holes (7) are arranged in a ring array about the central axis of the suction hood (5).

4. The automated welding robot based on machine vision guidance according to claim 1, characterized in that, A solenoid valve is installed on the collection pipe.

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